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rad->deg; use predefined pi

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This commit is contained in:
Tim Zeuner 2023-01-31 21:18:53 +01:00
parent 722898da6d
commit d7fc54cfd0
2 changed files with 4 additions and 4 deletions
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6
AutonomousMode/Utils/utils.cpp
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@ -1,7 +1,5 @@
#include "utils.h" #include "utils.h"
#define PI 3.14159265359
LFRPoint::LFRPoint(/* args */) : x(0.0), y(0.0) LFRPoint::LFRPoint(/* args */) : x(0.0), y(0.0)
{ {
} }
@ -33,7 +31,7 @@ LFRVector::~LFRVector()
double LFRVector::angle(const LFRVector& other) const double LFRVector::angle(const LFRVector& other) const
{ {
return acos(dot(other)/(this->norm()*other.norm())); return acos(dot(other)/(this->norm()*other.norm())) * (180.0/M_PI);
} }
double LFRVector::dot(const LFRVector& other) const double LFRVector::dot(const LFRVector& other) const
@ -71,7 +69,7 @@ int Calcs::calcAngle(int deltaX, int deltaY){
int refAngle = 0; int refAngle = 0;
if(deltaX > 10E-12){ if(deltaX > 10E-12){
refAngle = (int)((atan(deltaY/deltaX) * 180.0/PI) + 0.5 - (refAngle<0)); //Here 0.5 (or -0.5) is added to round a float number to int right refAngle = (int)((atan(deltaY/deltaX) * 180.0/M_PI) + 0.5 - (refAngle<0)); //Here 0.5 (or -0.5) is added to round a float number to int right
// convert from img coordinates to regbot coordinates // convert from img coordinates to regbot coordinates
refAngle = -(refAngle); refAngle = -(refAngle);

2
AutonomousMode/Utils/utils.h
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@ -2,6 +2,8 @@
#include <opencv2/opencv.hpp> #include <opencv2/opencv.hpp>
#include <cmath> #include <cmath>
#define _USE_MATH_DEFINES
#include <math.h>
using namespace cv; using namespace cv;
using namespace std; using namespace std;